PID Joint Control

This simulator visualizes a single motor-driven robot joint tracking a commanded angle with a PID (Proportional-Integral-Derivative) controller. A rotating pointer shows the joint's real physical angle chasing the setpoint, while a scrolling strip chart plots the setpoint, the joint angle and the controller's output torque over time. Tune Kp, Ki and Kd to see the classic trade-offs: a high proportional gain reacts fast but overshoots, integral gain removes steady-state error at the cost of slower settling, and derivative gain damps oscillation but amplifies noise. Use the disturbance kick to see how the controller rejects a sudden external torque, just like a real robot joint recovering from a bump or a payload change.